An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

This paper presents an experimental evaluation of joint torque control in a flexible robot using model predictive approach. The elastic robots is challenging due to the underactuated nature connected link and motor dynamics. A typical solution formulate controller cascaded way with outer loop for nonlinear side dynamics combination inner torque. In this utilizes design order take actuator constraints into account and, case special choice reference gains, avoid computation higher time derivatives desired We compare two different implementations, which differ model. particular, we investigate on use natural open controllers are evaluated detail simulation study as well experiments single testbed.